test_objects

test_objects.test_adaptive_free_joint_translation_tolerances_are_stage_independent()

Tests MJScene zeroes bulk relTol for a free body through the adaptive-integrator interface.

The relative-tolerance conditioning fix applies to any free-joint body at orbital scale, independent of how its gravity is applied, so the presence of a free body (cube here) alone should trigger it.

test_objects.test_geometry_rgba_matches_mujoco_material_precedence(geom_attributes, material_rgba, expected_rgba)

Export material color and alpha unless the geom has non-default RGBA.

MuJoCo treats explicit default gray like omitted RGBA, but a change to any channel (including alpha alone) overrides all four material channels. A second material ensures the export follows the geom’s material index.

test_objects.test_loading()

Tests that MJObject are created from the XML as expected

test_objects.test_unnamed_body_introspection(root_name)

Body, parent, and geometry names agree before initialization and after reset.

Cover unnamed roots and children, a named child of an unnamed parent, and explicit names that would otherwise collide with generated names. Creating another scene must not change the generated names for identical XML.